Robust adaptive control of nonlinear uncertain plants with unknown dead-zone

Abstract

A class of uncertain nonlinear systems with unknown dead-zone nonlinearity is considered. By using the backstepping technique, robust adaptive control algorithms are developed. Unlike some existing control schemes for systems with dead-zone, the developed backstepping controllers do not require the uncertain parameters to lie within known intervals. It is shown that the proposed controllers guarantee not only global stability but also transient performance.